CN205928701U - Lower hanging truss machine handle structure - Google Patents
Lower hanging truss machine handle structure Download PDFInfo
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- CN205928701U CN205928701U CN201620911424.8U CN201620911424U CN205928701U CN 205928701 U CN205928701 U CN 205928701U CN 201620911424 U CN201620911424 U CN 201620911424U CN 205928701 U CN205928701 U CN 205928701U
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Abstract
The utility model discloses a lower hanging truss machine handle structure, including the portal frame, be provided with the crossbeam on the portal frame, be provided with mechanical hand mechanism on the crossbeam, mechanical hand mechanism is including setting up the roof on the crossbeam, the roof below is provided with two first pneumatic cylinders, the interval of two first pneumatic cylinders and the tie point of roof is greater than the interval of two first pneumatic cylinder pistons ends, first grip block of piston each fixedly connected with of end of two first pneumatic cylinders, two first grip blocks are parallel to each other, first grip block bottom is fixed with the second pneumatic cylinder, second pneumatic cylinder and first grip block mutually perpendicular, the piston rod lateral wall of second pneumatic cylinder is fixed with the second grip block, the top of the piston cylinder of second pneumatic cylinder is provided with the locating piece. The utility model discloses the not enough of prior art can be improved, the clamping stability of truss mechanical hand to the irregular component has been improved.
Description
Technical field
This utility model is related to field of machinery automation, especially hanging truss robot arm structure under one kind.
Background technology
On automatic industrial manufacturing line, workpiece is frequently necessary to carry back and forth between streamline and machine tooling station.
At present lathe loading and unloading, widely used popular industrial machine people or special mechanical hand are realized on automatic assembly line.China is real
Disclose a kind of truss robot manipulator structure with new patent CN 203031607U, realize workpiece in streamline and corresponding lathe
Horizontal and vertical carrying between processing stations.But, this truss robot arm is not good for the clamping fitness of irregular component,
If deviation in claming angle, the problem that part drops easily occurs.
Utility model content
The technical problems to be solved in the utility model is to provide hanging truss robot arm structure under one kind, can solve the problem that existing
The deficiency of technology, improves the clamping stability for irregular component for the truss robot arm.
For solving above-mentioned technical problem, technical solution adopted in the utility model is as follows.
Hanging truss robot arm structure under one kind, including portal frame, portal frame is provided with crossbeam, crossbeam is arranged organic
Device mobile phone structure, described manipulator mechanism includes the top board being arranged on crossbeam, is provided with two first hydraulic cylinders below top board, and two
The spacing of the junction point of individual first hydraulic cylinder and top board is more than the spacing of two first hydraulic cylinder piston ends, two first hydraulic cylinders
Between angle be 15 °～25 °, the piston end of two first hydraulic cylinders is respectively fixedly connected with first grip block, two
One grip block is parallel to each other, and the first grip block bottom is fixed with second hydraulic cylinder, and second hydraulic cylinder is mutually vertical with the first grip block
Directly, the piston rod side wall of second hydraulic cylinder is fixed with the second grip block, and the second grip block is 45 ° with the angle of second hydraulic cylinder,
The top of the piston cylinder of second hydraulic cylinder is provided with locating piece.
Preferably, the upper surface of described second grip block is provided with several grooves, the first bullet is passed through in the bottom of groove
Spring body is connected with gripper shoe, and gripper shoe is coordinated with groove gap, and the side wall of groove is provided with rubber layer.
Preferably, being hinged with several arc metal plates on described locating piece, the end of arc metal plate is connected with
Two spring bodies, the top of second spring body is provided with rubber slab.
Using having the beneficial effects that technique scheme is brought：This utility model passes through two groups of hydraulic cylinders and forms machine
Mobile phone structure, first hydraulic cylinder is used for the lifting for parts, and second hydraulic cylinder is used for the horizontal fixation to parts.First liquid
The structure that cylinder pressure is obliquely installed can make first hydraulic cylinder share the clamp pressure of part second hydraulic cylinder, reduces hydraulic cylinder folder
Hold rocking of producing during parts.The locating piece that second hydraulic cylinder connects can be matched with the second grip block, realizes not similar shape
The stable holding of the parts of shape.On second grip block, the gripper shoe side of activity setting can carry out jail with the surface of parts
Solid clamping, when parts have local crowning and gripper shoe top contact, the downward indentation of gripper shoe, make parts and groove phase
Mutually clamping, realizes the firm clamping of parts.Rubber layer can improve the stability connecting and fixing between groove and parts.Fixed
After position block is contacted with parts, second spring body compresses, and then so that arc metal plate is closed up, and improves steady for the clamping of parts
Qualitative.
Brief description
Fig. 1 is the structure chart of one specific embodiment of this utility model.
Fig. 2 is the structure chart of manipulator mechanism in one specific embodiment of this utility model.
Fig. 3 is the structure chart of the second grip block in one specific embodiment of this utility model.
Fig. 4 is the structure chart of arc metal plate and locating piece connecting portion in one specific embodiment of this utility model.
In figure：1st, portal frame；2nd, crossbeam；3rd, manipulator mechanism；4th, top board；5th, first hydraulic cylinder；6th, the first grip block；7、
Second hydraulic cylinder；8th, the second grip block；9th, locating piece；10th, groove；11st, the first spring body；12nd, gripper shoe；13rd, rubber layer；
14th, arc metal plate；15th, second spring body；16th, rubber slab；17th, chute.
Specific embodiment
All can commercially using the standardized element arriving in this utility model, shaped piece is according to description and attached
The record of figure all can carry out customized, the concrete connected mode of each part all using ripe bolt in prior art, rivet,
The conventional meanses such as welding, stickup, will not be described in detail herein.
Reference picture 1-3, one specific embodiment of this utility model includes portal frame 1, and portal frame 1 is provided with crossbeam 2,
Manipulator mechanism 3 is provided with crossbeam 2, described manipulator mechanism 3 includes the top board 4 being arranged on crossbeam 2, sets below top board 4
It is equipped with two first hydraulic cylinders 5, two first hydraulic cylinders 5 are alive more than two first hydraulic cylinders 5 with the spacing of the junction point of top board 4
The spacing at plug end, the angle between two first hydraulic cylinders 5 is 20 °, and the piston end of two first hydraulic cylinders 5 is respectively fixedly connected with
One the first grip block 6, two the first grip blocks 6 are parallel to each other, and the first grip block 6 bottom is fixed with second hydraulic cylinder 7, and second
Hydraulic cylinder 7 is mutually perpendicular to the first grip block 6, and the piston rod side wall of second hydraulic cylinder 7 is fixed with the second grip block 8, the second folder
The angle holding plate 8 with second hydraulic cylinder 7 is 45 °, and the top of the piston cylinder of second hydraulic cylinder 7 is provided with locating piece 9.First hydraulic pressure
Cylinder 5 is used for the lifting for parts, and second hydraulic cylinder 7 is used for the horizontal fixation to parts.First hydraulic cylinder 5 is obliquely installed
Structure first hydraulic cylinder 5 can be made to share the clamp pressure of part second hydraulic cylinder 7, reduce hydraulic cylinder clamping parts when
Produce rocks.The locating piece 9 that second hydraulic cylinder 7 connects can be matched with the second grip block 8, realizes zero of different shapes
The stable holding of part.The upper surface of the second grip block 8 is provided with several grooves 10, and the first spring body is passed through in the bottom of groove 10
11 are connected with gripper shoe 12, and gripper shoe 12 is provided with rubber layer 13 with the cooperation of groove 10 gap, the side wall of groove 10.Second clamping
On plate 8, gripper shoe 12 side of activity setting can carry out firm clamping with the surface of parts, when parts have Local Convex
When rising with gripper shoe 12 top contact, the downward indentation of gripper shoe 12, make parts and the mutual clamping of groove 10, realize parts
Firmly clamping.Rubber layer 13 can improve the stability connecting and fixing between groove 10 and parts.If being hinged with locating piece 9
Dry arc metal plate 14, the end of arc metal plate 14 is connected with second spring body 15, the top setting of second spring body 15
There is rubber slab 16.After locating piece 9 is contacted with parts, second spring body 15 compresses, and then so that arc metal plate 14 is closed up, and improves
Clamping stability for parts.
In addition, locating piece is provided with chute 17, the work of second hydraulic cylinder 7 with the piston rod connection surface of second hydraulic cylinder 7
Stopper rod is slidably arranged in chute 17.
Wherein, truss robot arm external driver device has been carried out sufficiently in the patent documentation that background technology is quoted
Open, will not be described in detail herein.
Of the present utility model description in it is to be understood that term " longitudinal ", " horizontal ", " on ", D score, " front ",
" afterwards ", the orientation of instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " or position relationship be based on
Orientation shown in the drawings or position relationship, are for only for ease of description this utility model, rather than the dress of instruction or hint indication
Put or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this utility model
Restriction.
Of the present utility model ultimate principle and principal character and of the present utility model advantage have been shown and described above.One's own profession
The technical staff of industry it should be appreciated that this utility model is not restricted to the described embodiments, described in above-described embodiment and description
Principle of the present utility model is simply described, on the premise of without departing from this utility model spirit and scope, this utility model is also
Have various changes and modifications, these changes and improvements both fall within the range of claimed this utility model.This utility model
Claimed scope is by appending claims and its equivalent thereof.
Claims (3)
1. hanging truss robot arm structure under one kind, including portal frame (1), portal frame (1) is provided with crossbeam (2), crossbeam (2)
On be provided with manipulator mechanism (3) it is characterised in that：Described manipulator mechanism (3) includes the top board being arranged on crossbeam (2)
(4), it is provided with two first hydraulic cylinders (5) below top board (4), between the junction point of two first hydraulic cylinders (5) and top board (4)
It is 15 °～25 ° away from the angle between the spacing more than two first hydraulic cylinder (5) piston ends, two first hydraulic cylinders (5), two
The piston end of individual first hydraulic cylinder (5) is respectively fixedly connected with first grip block (6), and two the first grip blocks (6) are mutually flat
OK, the first grip block (6) bottom is fixed with second hydraulic cylinder (7), and second hydraulic cylinder (7) is mutually perpendicular to the first grip block (6),
The piston rod side wall of second hydraulic cylinder (7) is fixed with the second grip block (8), the folder of the second grip block (8) and second hydraulic cylinder (7)
Angle is 45 °, and the top of the piston cylinder of second hydraulic cylinder (7) is provided with locating piece (9).
2. hanging truss robot arm structure under according to claim 1 it is characterised in that：Described second grip block (8)
Upper surface is provided with several grooves (10), and the bottom of groove (10) is connected with gripper shoe (12) by the first spring body (11),
Gripper shoe (12) is coordinated with groove (10) gap, and the side wall of groove (10) is provided with rubber layer (13).
3. hanging truss robot arm structure under according to claim 1 it is characterised in that：Described locating piece (9) is upper hinged
There are several arc metal plates (14), the end of arc metal plate (14) is connected with second spring body (15), second spring body
(15) top is provided with rubber slab (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620911424.8U CN205928701U (en) | 2016-08-22 | 2016-08-22 | Lower hanging truss machine handle structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620911424.8U CN205928701U (en) | 2016-08-22 | 2016-08-22 | Lower hanging truss machine handle structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205928701U true CN205928701U (en) | 2017-02-08 |
Family
ID=57948129
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620911424.8U Active CN205928701U (en) | 2016-08-22 | 2016-08-22 | Lower hanging truss machine handle structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205928701U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309889A (en) * | 2017-07-27 | 2017-11-03 | 安徽工程大学 | A kind of robot links formula arm grabbing device |
-
2016
- 2016-08-22 CN CN201620911424.8U patent/CN205928701U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107309889A (en) * | 2017-07-27 | 2017-11-03 | 安徽工程大学 | A kind of robot links formula arm grabbing device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |